
#ifndef __STATIC_LAYER_H__
#define __STATIC_LAYER_H__

#include "common/layered_costmap.h"

namespace costmap_2d{
    class StaticLayer : public Layer, public Costmap2D{
        public:
            StaticLayer();
            virtual ~StaticLayer();
            
            virtual void onInitialize();
            virtual void matchSize();
            virtual void updateBounds(double robot_x, double robot_y, double robot_yaw, double* min_x, double* min_y,
                double* max_x, double* max_y);
            virtual void updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j);


            unsigned char interpretValue(unsigned char value);
            void setMap(const nav_msgs::OccupancyGridConstPtr& new_map);
            void createBuffer(boost::shared_ptr<costmap_2d::ObservationBuffer> buffer, string topic_name){};
            void addPointCloud2(sensor_msgs::PointCloud2 cloud, string topic_name) {};


        private:

    };
}   // namespace costmap_2d


#endif
